To evaluate the performance of our method for large-scale image-based localization on real data, we used the benchmark Cambridge Landmarks dataset from Kendall et al. [1]}. We chose this dataset rather than other benchmarks commonly used to evaluate feature-based image localization, such as Dubrovnik6k and Rome16k [2]}, because we needed access to the input images and their ground truth poses whereas most other benchmarks only provide the SIFT descriptors and associated 3D points.
